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<div class="title">supervoxels.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* Software License Agreement  (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">*  Point Cloud Library  (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">*  Copyright  (c) 2012, Jeremie Papon.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">*  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">*  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">*  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">*   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">*     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">*   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">*     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef IMPL_SUPERVOXELS_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define IMPL_SUPERVOXELS_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/cloud_composer/tools/supervoxels.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/cloud_composer/impl/cloud_item.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/cloud_composer/items/normals_item.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/supervoxel_clustering.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; QList &lt;pcl::cloud_composer::CloudComposerItem*&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;pcl::cloud_composer::SupervoxelsTool::performTemplatedAction (QList &lt;const CloudComposerItem*&gt; input_data)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  QList &lt;CloudComposerItem*&gt; output;  </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">foreach</span> (<span class="keyword">const</span> CloudComposerItem* input_item, input_data)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;   <span class="comment">// if ( !input_item-&gt;isSanitized () )</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="comment">//  {</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">//    qCritical () &lt;&lt; &quot;SupervoxelsTool requires sanitized input!&quot;;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">//    return output;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">//  }</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    QVariant variant = input_item-&gt;data (ItemDataRole::CLOUD_TEMPLATED);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">if</span> ( ! variant.canConvert &lt;<span class="keyword">typename</span> PointCloud&lt;PointT&gt;::Ptr&gt; () )</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    {  </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      qWarning () &lt;&lt; <span class="stringliteral">&quot;Attempted to cast to template type which does not exist in this item! (input list)&quot;</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordflow">return</span> output;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">typename</span> PointCloud &lt;PointT&gt;::Ptr input_cloud = variant.value &lt;<span class="keyword">typename</span> PointCloud&lt;PointT&gt;::Ptr&gt; ();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">//TODO: Check if Voxelized</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">foreach</span> (<span class="keyword">const</span> CloudComposerItem* input_item, input_data)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {  </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    QVariant variant = input_item-&gt;data (ItemDataRole::CLOUD_TEMPLATED);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">typename</span> PointCloud &lt;PointT&gt;::Ptr input_cloud = variant.value &lt;<span class="keyword">typename</span> PointCloud&lt;PointT&gt;::Ptr&gt; ();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">float</span> resolution = parameter_model_-&gt;<a class="code" href="classpcl_1_1cloud__composer_1_1_properties_model.html#a7593977daf0a0ef877f2b7626d4cfa6d">getProperty</a>(<span class="stringliteral">&quot;Resolution&quot;</span>).toFloat ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    qDebug () &lt;&lt; <span class="stringliteral">&quot;Octree resolution = &quot;</span>&lt;&lt;resolution;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">float</span> seed_resolution = parameter_model_-&gt;<a class="code" href="classpcl_1_1cloud__composer_1_1_properties_model.html#a7593977daf0a0ef877f2b7626d4cfa6d">getProperty</a>(<span class="stringliteral">&quot;Seed Resolution&quot;</span>).toFloat ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    qDebug () &lt;&lt; <span class="stringliteral">&quot;Seed resolution = &quot;</span>&lt;&lt;seed_resolution;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">float</span> rgb_weight = parameter_model_-&gt;<a class="code" href="classpcl_1_1cloud__composer_1_1_properties_model.html#a7593977daf0a0ef877f2b7626d4cfa6d">getProperty</a>(<span class="stringliteral">&quot;RGB Weight&quot;</span>).toFloat ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">float</span> normal_weight = parameter_model_-&gt;<a class="code" href="classpcl_1_1cloud__composer_1_1_properties_model.html#a7593977daf0a0ef877f2b7626d4cfa6d">getProperty</a>(<span class="stringliteral">&quot;Normals Weight&quot;</span>).toFloat ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">float</span> spatial_weight = parameter_model_-&gt;<a class="code" href="classpcl_1_1cloud__composer_1_1_properties_model.html#a7593977daf0a0ef877f2b7626d4cfa6d">getProperty</a>(<span class="stringliteral">&quot;Spatial Weight&quot;</span>).toFloat ();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <a class="code" href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering&lt;PointT&gt;</a> super (resolution, seed_resolution);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    super.setInputCloud (input_cloud);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    super.setColorImportance (rgb_weight);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    super.setSpatialImportance (spatial_weight);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    super.setNormalImportance (normal_weight);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    std::map &lt;uint32_t, typename pcl::Supervoxel&lt;PointT&gt;::Ptr &gt; supervoxel_clusters;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    super.extract (supervoxel_clusters);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    std::map &lt;uint32_t, typename pcl::Supervoxel&lt;PointT&gt;::Ptr &gt; refined_supervoxel_clusters;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    super.refineSupervoxels (3, refined_supervoxel_clusters);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointXYZRGBA&gt;::Ptr color_segments;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    color_segments= super.getColoredVoxelCloud ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    CloudItem*  cloud_item_out = CloudItem::createCloudItemFromTemplate&lt;PointXYZRGBA&gt;(input_item-&gt;text(),color_segments);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    output.append (cloud_item_out);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">return</span> output;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_performTemplatedAction(T) template PCL_EXPORTS void pcl::cloud_composer::SupervoxelsTool::performTemplatedAction&lt;T&gt; (QList &lt;const CloudComposerItem*&gt;);</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//IMPL_SUPERVOXELS_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_supervoxel_clustering_html"><div class="ttname"><a href="classpcl_1_1_supervoxel_clustering.html">pcl::SupervoxelClustering</a></div><div class="ttdoc">Implements a supervoxel algorithm based on voxel structure, normals, and rgb values</div><div class="ttdef"><b>Definition:</b> supervoxel_clustering.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1cloud__composer_1_1_properties_model_html_a7593977daf0a0ef877f2b7626d4cfa6d"><div class="ttname"><a href="classpcl_1_1cloud__composer_1_1_properties_model.html#a7593977daf0a0ef877f2b7626d4cfa6d">pcl::cloud_composer::PropertiesModel::getProperty</a></div><div class="ttdeci">QVariant getProperty(const QString prop_name) const</div><div class="ttdoc">Helper function to get a property</div></div>
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